CN116204977A - Modeling method and examination judging method for vehicle simulation model - Google Patents

Abstract

The invention provides a vehicle simulation model modeling method, namely an examination judging method, which comprises the following steps: acquiring actual parameters of the test vehicle, and modeling according to the actual data; importing the modeled vehicle model into a Unity3D project, and adding an automobile component to the model; setting automobile starting parameters, gear parameters, power system parameters, automobile state parameters, engine parameters, wind resistance calculation parameters and input coefficients for a vehicle model added with automobile components, simultaneously rewriting the applied drive and CarSpeed methods of the Unity3D to calculate the torque and the speed of the vehicle model, and then obtaining an examination vehicle simulation model. Compared with the prior art, the simulation method and the simulation device for the test vehicle realize the simulation of the test vehicle by establishing the simulation model of the test vehicle and setting corresponding parameters for the simulation model according to the specific data of the actual test vehicle, and the generated model is finer, so that the simulation result obtained by the simulation test is more accurate and the simulation effect is better.

Description

Modeling method and examination judging method for vehicle simulation model

Technical Field

The invention relates to the field of vehicle simulation tests, in particular to a vehicle simulation model modeling method and a test judging method.

Background

With the development of technology and the advancement of networks, people can acquire a great deal of information through the networks, but a great deal of technical knowledge is needed to be mastered by actual operations, including automobile driving technology. For the license examination of the automobile driver, although the theoretical knowledge of subjects and the like can be learned through the network, the practical examination of subjects two, three and the like needs to be actually operated to the examination site for training, so that training can not be performed anytime and anywhere, and time is wasted very much. At present, although there are many on-line simulation training devices for simulating an examination, in many on-line simulation training device systems, modeling of a vehicle for the examination and simulation of running of the vehicle are not accurate enough, simulation of a place for the examination is also not accurate enough, and judgment of the examination is also inaccurate, so that many problems occur in actual operation even after the on-line training of the on-line simulation training device.

Disclosure of Invention

The invention aims to overcome at least one defect of the prior art, and provides a vehicle simulation model modeling method and an examination judging method, which are used for solving the problems that an on-line simulation examination training model is not accurate enough and examination judgment is not accurate enough.

The technical scheme adopted by the invention is as follows:

there is provided a modeling method of a vehicle simulation model, the modeling method including:

s1: acquiring actual parameters of the test vehicle, and modeling according to the actual data;

s2: importing the modeled vehicle model into a Unity3D project, and adding an automobile component to the model;

s3: setting automobile starting parameters, gear parameters, power system parameters, automobile state parameters, engine parameters and input coefficients for a vehicle model added with automobile components;

s4: and (3) setting a speed calculation related method for the vehicle model according to the parameters set in the step (S3) to obtain the test vehicle simulation model.

The model is built by acquiring actual data of the test vehicle, and various detailed parameters are set for the model in the Unity3D, so that the built test vehicle simulation model is finer, and the running data acquired when the test vehicle simulation model is used for simulating running is more accurate.

Further, the automobile component in step S2 includes: wheel collider, common collider and rigid body assembly;

the addition of the wheel impactor specifically includes: wheel collision assemblies are respectively added for wheels of the vehicle model in the Unity 3D;

adding a common impactor specifically includes: adding four spherical colliders of a head, a tail, a left and a right of a vehicle and a square vehicle body collider for a vehicle model in Unity 3D;

the adding of the rigid body component specifically comprises: and adding a Rigidbody rigid body component to the vehicle model in the Unity3D, setting a quality Mass parameter value according to actual parameter data of the test vehicle, and checking a Use grade application Gravity option of the Rigidbody rigid body component.

The vehicle model is added with the corresponding part collider to simulate the vehicle, so that the simulation of the vehicle is finer. Meanwhile, a rigid body component is added, the actual parameters of the vehicle, in particular the vehicle weight, are used for setting the Mass parameter value, and the weight of the vehicle is simulated by applying a gravity option, so that the fineness of vehicle simulation is further improved, and the simulated data is more accurate and real.

Further, the vehicle start parameters in the step S3 include: a power-off state, a power-on state, and a start-up vehicle state;

and/or, the gear parameters include: manual gear parameters and automatic gear parameters;

wherein, manual gear parameters include: neutral, first gear, second gear, third gear, fourth gear, fifth gear and reverse gear, the automatic gear parameters include: a parking gear, a forward gear and a reverse gear;

and/or, the powertrain parameters include: maximum wheel offset angle, transmission efficiency, brake pedal torque, and brake profile;

and/or, the vehicle state parameters include: gear ratio of each gear, wheel torque, minimum speed and maximum speed of each gear of the vehicle, idle speed of each gear of the vehicle and foot brake torque;

and/or, the automobile engine parameters include: maximum engine speed, minimum engine speed, speed-to-output power relationship curve, curve speed ratio, idle torque magnitude, speed-up limit, speed-down acceleration, engine-to-wheel torque conversion coefficient;

and/or, the input coefficients comprise: steering wheel input, clutch input, brake input, throttle input, and hand brake switch.

Specific parameter correspondence is set in detail for each part needing to be calculated, and the calculation of the movement of the vehicle is more accurate and the simulated vehicle is more real through the specific parameters. The automobile starting parameters, gear parameters, input coefficients and the like are obtained by matching with external equipment, and the power system parameters, automobile state parameters, automobile engine parameters and the like are obtained according to actual data of the automobile.

Further, the speed calculation related method in step S3 includes an ApplyDrive method;

the ApplyDrive method specifically comprises the following steps:

when the current vehicle speed is smaller than the minimum speed of the current gear, calculating the current torque of the vehicle, and equally distributing the current torque of the vehicle to driving wheels to obtain the forward torque of each driving wheel, and calculating according to the forward torque to obtain the rigid body speed of the vehicle;

the driving wheels are wheels for the vehicle to actually drive the vehicle to advance;

the vehicle rigid body speed is a theoretical speed of the vehicle model.

Further, the calculating the current torque of the vehicle specifically includes:

vehicle current torque = idle torque magnitude current gear ratio transmission efficiency clutch input + torque at current engine speed clutch input transmission efficiency;

the torque at the current engine speed is calculated according to the parameters of the automobile engine.

The current vehicle speed is initially set to 0 when the vehicle model is not started;

the idle torque and the current gear ratio in the specific calculation, the transmission efficiency and the like are obtained according to the actual parameters of the test vehicle, and the specific situation of the actual vehicle can be considered in the specific calculation, so that a more real simulation effect is achieved. The vehicle rigid body speed is the theoretical speed of the vehicle model, when the vehicle is not started, calculation is needed according to the torque of wheels, the initial vehicle rigid body speed, namely the starting speed of the vehicle, is obtained, and then the vehicle rigid body speed is synchronously updated in the process of gradually lifting.

Further, the speed calculation related method in step S3 further includes a CarSpeed method;

the CarSpeed method specifically comprises the following steps:

obtaining normalization of the rigid body speed of the vehicle;

calculating the lowest speed limit of the current gear, wherein the lowest speed limit of the current gear is = (the maximum speed of the current gear-the lowest speed of the current gear) is the throttle input plus the idle speed of the current gear;

when the value of the rigid body speed of the vehicle is larger than the maximum speed of the current gear, the current vehicle speed is calculated, specifically:

current vehicle speed = current gear maximum speed x vehicle rigid body speed normalization; and updating the vehicle rigid body speed to the current vehicle speed;

when the value of the rigid body speed of the vehicle is larger than the lowest speed limit of the current gear and smaller than the maximum speed of the current gear, defining an intermediate speed speedVal, wherein the calculation formula of the speedVal is as follows: vehicle rigid body speed value-downshift deceleration acceleration time; the time is the interval from the last frame to the current frame, and the unit is seconds; normalizing the vehicle rigid body speed by a value when the current vehicle speed = speedVal is greater than 0; and updating the vehicle rigid body speed to the current vehicle speed;

then, calculating the current standardized speed of the vehicle, specifically, the current speed of the vehicle is 3.6, and the current speed of the vehicle is standardized to be the unit km/h. The normalization method for obtaining the vehicle rigid body speed is to normalize the vehicle rigid body speed into a vector with a direction by using a normalized method in Unity3D, and then calculate the obtained current vehicle speed by normalizing the vehicle rigid body speed to be the same as the direction of the vehicle rigid body speed. Meanwhile, the previous time calculation unit is second, and the speed unit of the vehicle is usually mainly km/h, so that the current vehicle speed needs to be standardized after calculation, and the current vehicle speed unit is converted into km/h to obtain the current standardized speed of the vehicle. In addition, in order to simulate the running process of the vehicle, a current gear minimum speed limit is defined, and a calculation formula of the current gear minimum speed limit is as follows: current gear minimum speed= (current gear maximum speed-current gear minimum speed) × accelerator input+current gear idle speed, that is, when there is no accelerator input, the rigid body speed of the vehicle model will decrease, but subject to the current gear minimum speed limit, will be limited to the current gear idle speed, and when there is accelerator input, even if the vehicle model decelerates, the rigid body speed decreases, will be limited to the minimum: (current gear maximum speed-current gear minimum speed) accelerator input + current gear idle.

The invention also provides a vehicle simulation examination judging method, which is used for constructing an examination vehicle simulation model by the vehicle simulation model modeling method, and comprises the following steps:

a1: establishing an initial examination scene model according to a real examination scene and importing the initial examination scene model into Unity 3D;

a2: establishing an examination vehicle simulation model according to the information of the examination vehicle by using the vehicle simulation model modeling method;

a3: setting rules of the test items according to different test items;

a4: setting a rule trigger and a judging rule for the initial examination scene model according to the rule of the examination item, and generating a simulated examination scene model;

a5: the method comprises the steps of importing a simulated examination scene model and an examination vehicle simulation model with set rule triggers and judging rules into a system of external automobile simulation equipment, matching the examination vehicle simulation model with operation equipment in the automobile simulation equipment, and establishing operation data of the operation equipment and conversion rules of simulation data of the examination vehicle simulation model;

a6: the terminal user inputs operation data through the operation device, and the automobile simulation device converts the operation data into simulation data of an examination vehicle simulation model according to the conversion rule;

a7: the automobile simulation equipment drives the test vehicle simulation model to run in the test scene simulation model according to the simulation data, and judges the achievement according to the rule trigger and the judging rule.

By adopting a real examination scene to establish an initial scene model, the simulated examination can restore the real examination environment as much as possible, and more real site sense and reality sense are obtained. Setting a rule trigger and a judging rule for the initial scene model according to the test items to obtain a simulation scene model, simultaneously importing the set test vehicle simulation model to automobile simulation equipment, setting various parameters in the automobile simulation model, correspondingly setting various operation equipment required by simulated driving on the automobile simulation equipment, such as a steering wheel, an accelerator and the like, matching the operation equipment with the automobile simulation model, and establishing conversion rules for operation data input by the operation equipment and simulation data of the test vehicle simulation model, such as rotation angle of the steering wheel of the operation equipment and steering wheel input conversion rules of the test vehicle simulation model; after the rule is established, operation data can be sent to the automobile simulation equipment through operation of the operation equipment, then the automobile simulation equipment is converted into simulation data of a test vehicle simulation model according to the operation data, the test vehicle simulation model carries out simulated running in a simulated test scene model according to the simulation data, and then the data fed back through the rule trigger in the running process judges the score of the terminal user according to the judging rule. By setting the test vehicle simulation model with various parameters in detail and setting a set of conversion rules for the test vehicle simulation model and the automobile simulation equipment, the judgment standard of the simulated test is more detailed, and the obtained result is more accurate.

Further, the establishing the initial examination scene model according to the real examination scene specifically includes:

sampling a real examination scene by using aerial modeling or oblique photography technology, and processing and optimizing a sampling result by using Maya3D to obtain an initial examination scene model consistent with the environment layout of the actual scene.

The real environment is sampled by adopting the real examination room, and meanwhile, a model consistent with the environment layout of the real scene is built, so that the built model is more real, and the judgment of the examination is more accurate.

Further, the setting rule trigger specific steps include:

a41: cube models are built in Unity3D using Cube;

a42: adding a collider component to the established cube model;

a43: setting a cube model attribute as a trigger in the Unity3D, so that the cube model forms a standard trigger;

a44: marking a position needing rule judgment in the initial examination scene model as a trigger point;

a45: setting a plurality of standard triggers through the steps of A41-A43 at each trigger point;

a46: parameters and rules are set for each standard trigger according to the rules of the test items and the scenes in the initial test scene model, so that the standard triggers form rule triggers.

Further, the setting a plurality of standard triggers respectively includes: at each trigger point in the simulated examination scene model, setting the standard trigger at the starting, process and ending positions of rule judgment at the trigger point;

wherein a standard trigger is set at the beginning and the end, respectively, and one or several standard triggers are set at the process.

On the simulation examination scene model, standard triggers are set at the start, process and end positions of each position needing to be subjected to rule judgment, the standard trigger set at the start position is used for judging the start of a judgment item, the standard trigger set at the end position is used for judging the end of the judgment item, the standard trigger set at the process is used for setting specific rules, and one or more standard triggers are set according to actual conditions to carry out rule judgment. And the method is detailed to each position to be judged, and specific rules are set according to the positions, so that the judgment is finer, and the judgment result is further improved.

Parameters including Position data and scaling data are set for each standard trigger. The location, height and size of the standard trigger may be set depending on the location data and the scaling data.

Wherein the judging rule comprises a preset judging rule;

the preset judging rule comprises the following steps: speed limit rule, car light rule, line ball rule and flameout rule.

In addition, the judging rules also comprise examination judging rules;

the examination decision rule includes a rule set according to examination items.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the test vehicle is subjected to data acquisition, so that modeling is performed, various detailed parameters are further set for the model, and finer simulation of the test vehicle is realized, so that the effect of improving the precision of simulation test is achieved.

2. According to the invention, through modeling of the examination scene, rule triggers are set for each position to be judged, and the rule triggers are set for judgment according to the start, the process and the end of judgment, and meanwhile, the detailed rule of judgment is set in the rule triggers of the process, so that the judgment accuracy is further improved.

3. According to the invention, the conversion rule is established between the operation equipment of the displayed automobile simulation equipment and the test vehicle simulation model, so that more detailed data information of the test vehicle model can be obtained, the judgment accuracy is further improved, and the judgment range is further enlarged.

Drawings

Fig. 1 is a flow chart of the steps of embodiment 1 of the present invention.

Fig. 2 is a flow chart 1 showing the steps of embodiment 2 of the present invention.

Fig. 3 is a flow chart of the steps of embodiment 3 of the present invention.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the invention. For better illustration of the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

Example 1

As shown in fig. 1, the present embodiment provides a vehicle simulation model modeling method including:

s1: acquiring actual data of the test vehicle, and modeling according to the actual data;

s2: importing the modeled vehicle model into a Unity3D project, and adding an automobile component to the model;

the automobile components added in this step include: wheel collider, common collider and rigid body assembly;

the wheel collision device is specifically characterized in that wheel collision components of a wheel model are respectively added to wheels of a vehicle model in the Unity3D, so that the effect of simulating the movement of the wheels is achieved; meanwhile, adding a wheel impactor to the vehicle model also materializes each vehicle wheel, and specific variables and parameters, such as a motorTorque variable, a steelyangle variable, a break torque variable and an rpm variable, can be set for the wheel by calling WheelCollider API of the Unity 3D; the motorTorque variable is the motor torque on the axle of the wheel, i.e. the forward torque, used to adjust the rotation of the wheel; steerAngle is the steering angle of the wheel, and is used for adjusting the steering of the wheel, and is particularly required to be matched with the input; the break torque variable is a brake torque used for braking of the vehicle model; the rpm variable is the wheel rpm, which can be used to calculate the speed of the vehicle model.

Adding common colliders, namely adding four spherical colliders of a head, a tail, a left side and a right side of a vehicle model in Unity3D, adding a square collider for a vehicle body, and adding a physical collision judgment foundation for the vehicle model;

the rigid body component is specifically added, namely, the Rigidbody rigid body component is added for the vehicle model in the Unity3D, the quality Mass parameter value is set according to the actual parameter data of the test vehicle, the rest parameters are kept unchanged, and the user Gravity option of the Rigidbody rigid body component is checked to simulate the weight of the vehicle, so that the vehicle has better physical effect in operation, and further better simulation effect is obtained.

S3: setting automobile starting parameters, gear parameters, power system parameters, automobile state parameters, engine parameters and input coefficients for a vehicle model added with automobile components;

in this step, a number of parameters are set for the vehicle model, wherein:

the automobile starting parameters include: the power-off state, the power-on state and the automobile starting state simulate the automobile starting process state as the basis of examination judgment.

And/or, the gear parameters include: manual gear parameters and automatic gear parameters;

wherein, manual gear parameters include: neutral, first gear, second gear, third gear, fourth gear, fifth gear and reverse gear, the automatic gear parameters include: a parking gear, a forward gear and a reverse gear;

specifically, the above parameters need to be obtained from the external device and assigned, for example, whether the external device is powered on or not, to assign a power-on state and a power-off state, whether the vehicle is started after the power is powered on or not to assign a starting state to the automobile, and then, in the starting process, assign a value to a corresponding gear in the manual gear parameters or a corresponding gear in the automatic gear parameters respectively according to the gear condition of the external device. It should be noted that, in this embodiment, the external device is any one of the prior art, and has a complete simulation of the vehicle operation process and an external simulation device supporting the Unity3D operating system.

And/or, the powertrain parameters include: maximum wheel offset angle, transmission efficiency, brake pedal torque, and brake profile; specifically, each vehicle with the maximum wheel offset angle is different, and needs to be set according to actual parameter data of the test vehicle, and the vehicle steering is controlled by using the test angle variable. The transmission efficiency parameters are mainly used for simulating the transmission efficiency of a gearbox of an actual vehicle, so that the actual parameters are required to be obtained according to an examination vehicle to be set; the brake pedal torque and the brake curve are mainly used for simulating the braking of the vehicle and are required to be combined with specific input, but the brake pedal torque and the brake curve are required to be set according to actual parameter data of the test vehicle, and the brake curve reflects the braking capability of the vehicle.

And/or, the vehicle state parameters include: gear ratio of each gear, current torque of the vehicle, minimum speed and maximum speed of each gear of the vehicle, idle speed of each gear of the vehicle and foot brake torque;

and/or, the automobile engine parameters include: maximum engine speed, minimum engine speed, speed-to-output power relationship curve, curve speed ratio, idle torque magnitude, speed-up limit, speed-down acceleration, engine-to-wheel torque conversion coefficient; wherein the curve speed ratio includes a power to RPM curve RPM ratio and a power to PRM curve torque ratio; the automobile state parameters and the automobile engine parameters are used for calculating the speed or braking condition of the automobile in each gear, and the result obtained by carrying out simulation examination on the automobile simulated by the embodiment is more true by adopting detailed calculation data.

And/or, the input coefficients comprise: steering wheel input, clutch input, brake input, throttle input, and hand brake switch.

Specifically, the terminal user converts the operation into operation data by operating corresponding operation devices on the external device, such as a steering wheel, a clutch, a brake and the like, and for the convenience of understanding, simply represents the operation data in a simple numerical mode, such as converting the rotation angle of the steering wheel into (-1, 1), fully filling the steering wheel to the left as-1 and fully filling the steering wheel to the right as-1; the input of the clutch is converted into (0, 1), the clutch is not stepped on to 0, and the clutch is fully stepped on to 1; the input range of the brake is converted into (0, 1), the brake is not stepped on to be 0, and the brake is fully stepped on to be 1; the input of the accelerator is converted into (0, 1), the accelerator is not stepped on to be 0, and the accelerator is fully stepped on to be 1; the hand brake switch is closed to 0, and the hand brake switch is opened to 1; and matching the numerical range with corresponding parameters in input coefficients in the test vehicle simulation model. In this embodiment, when operation data input by an external device is received, a corresponding input coefficient is obtained according to the operation data.

After the parameters are set, the following steps are carried out:

s4: and (3) setting a speed calculation related method for the vehicle model according to the parameters set in the step (S3) to obtain the test vehicle simulation model.

The speed calculation related methods include an ApplyDrive method and a CarSpeed method.

The ApplyDrive method specifically comprises the following steps:

firstly, acquiring the current vehicle speed, setting the current vehicle speed to 0 when the vehicle model is not started and initially, then comparing the current vehicle speed with the current gear minimum speed of the vehicle model, and calculating the current torque of the vehicle when the current vehicle speed is smaller than the current gear minimum speed, wherein the situation generally occurs when the vehicle is started or the vehicle is in gear; the current torque of the vehicle is equally distributed to the driving wheels to obtain the forward torque of each driving wheel, the vehicle is generally divided into a front drive, a rear drive and a four drive, the current torque of the vehicle is equally distributed to specific driving wheels according to the actual type of the test vehicle, when the front drive is adopted, the current torque of the vehicle is divided by 2 and then distributed to the motorTorque parameters of the front wheels, namely the forward torque, when the rear drive is adopted, the current torque of the vehicle is divided by 2 and then distributed to the forward torque of the rear wheels, and when the rear drive is adopted, the current torque of the vehicle is divided by 4 and then distributed to the forward torque of each wheel; then, calculating according to the forward torque to obtain the rigid body speed of the vehicle;

the method for calculating the current torque of the vehicle specifically comprises the following steps:

vehicle current torque = idle torque magnitude current gear ratio transmission efficiency clutch input + torque at current engine speed clutch input transmission efficiency;

among the above parameters, the idle torque, the current gear ratio and the transmission efficiency are obtained according to actual parameter data setting of the test vehicle, the clutch input and the throttle input are obtained by converting operation data of external equipment, and the torque at the current engine speed needs to be calculated specifically by the following calculation modes:

the torque at the current engine speed is: dividing the current engine speed by the proportional value of the power and speed curve Rpm, introducing the obtained result into a speed and output power curve, multiplying the obtained value by the torque proportion of the speed curve and the power, multiplying the obtained value by the torque conversion coefficient of the wheel, and finally obtaining the torque at the current engine speed. The current engine speed is 0 when the vehicle model is not started, and is given an initial value when the vehicle model is just started, in this embodiment 1000, and then a new value is obtained by the ApplyDrive method.

In addition, in the calculation of the current torque of the vehicle, when the gear parameter of the vehicle model is an automatic gear, the value of the clutch input therein is fixed to 1, and when the gear parameter of the vehicle model is a manual gear, the clutch input therein is calculated from the value between (0, 1) converted from the clutch pedal of the external device.

After the current torque of the vehicle is obtained, the rotation speed of the wheels can be obtained according to the current torque, and then the rigid body speed of the vehicle is obtained.

In addition, in the ApplyDrive method, the state of a brake input and a hand brake switch of a vehicle model is also obtained to realize the simulation of the brake, specifically, when an external device presses a foot brake, the ApplyDrive method obtains the brake pedal torque (operation data) of a foot brake pedal of the external device, calculates the foot brake braking torque according to the brake pedal torque, the foot brake braking torque=the brake pedal torque is used as the brake input, and then the value of the foot brake braking torque is given to the brake torque parameter of each wheel collision device to slow down or stop the vehicle; the hand brake switch is similar to brake input, the hand brake switch is in an on state and an off state, the maximum value of the brake torque of the foot brake is multiplied by the state value (0 or 1) of the hand brake switch, and the obtained value is assigned to the brake torque parameter of each wheel collision device to stop the vehicle.

Further, in the ApplyDrive method, steering wheel input of a vehicle model can be obtained to realize simulation of steering, specifically, when an external device operates the steering wheel, the ratio of the current rotation angle of the steering wheel to the maximum rotation angle is input by the steering wheel, and the obtained result is given to a steerTorque parameter of each wheel collider to realize steering of the automobile.

In addition to setting the ApplyDrive method, the embodiment also sets a CarSpeed method, specifically:

firstly, normalizing the rigid body speed of a vehicle; specifically, using a normalized method in Unity3D, normalizing the vehicle rigid body speed into a vector with a direction, and calculating the velocity direction with the normalization of the vehicle rigid body speed to be the same as the vehicle rigid body speed;

then defining a current gear minimum speed limit which is used for limiting the minimum speed limit of the vehicle model in the current gear during operation, wherein the calculation of the current gear minimum speed limit is specifically as follows: current gear minimum speed= (current gear maximum speed-current gear minimum speed) ×accelerator input+current gear idle; the current gear minimum speed limit is affected by the throttle input.

When the value of the rigid body speed of the vehicle is larger than the maximum speed of the current gear, the current vehicle speed is calculated, specifically:

current vehicle speed = current gear maximum speed x vehicle rigid body speed normalization; and updating the vehicle rigid body speed to the current vehicle speed; corresponding to the fact that the current vehicle speed cannot exceed the maximum speed of the current gear.

When the value of the rigid body speed of the vehicle is larger than the lowest speed limit of the current gear and smaller than the maximum speed of the current gear, defining an intermediate speed speedVal, wherein the calculation formula of the speedVal is as follows: vehicle rigid body speed-downshift deceleration acceleration time; the time is the interval from the last frame to the current frame, and the unit is seconds; normalizing the vehicle rigid body speed by a value when the current vehicle speed = speedVal is greater than 0; and updating the vehicle rigid body speed to the current vehicle speed; according to the calculation of the set ApplyDrive method, when the throttle input is reduced, the current torque of the vehicle is reduced, and the rigid body speed of the vehicle is reduced, namely the speed of the vehicle model in the current gear is influenced by the throttle input, so that a speed Val is defined to simulate the speed reduction process of the vehicle in the stage; however, when the vehicle runs, the vehicle can not be directly stopped even if no throttle is input, and in order to further simulate the real running condition of the vehicle, the lowest speed of the vehicle model running in the current gear is limited by using the lowest speed of the current gear; according to a calculation formula of the lowest speed limit of the current gear, when no accelerator is input, the lowest speed limit of the current gear is the current gear idling speed, namely when no accelerator is input, the rigid body speed of the vehicle is reduced, but the lowest speed is reduced to the lowest idling speed of the current gear; when the accelerator input exists, even if the rigid body speed of the vehicle is reduced, the lowest speed can only be reduced to the lowest speed limit of the current gear = the maximum speed of the current gear-the lowest speed of the current gear) ×the accelerator input + the idle speed of the current gear;

then, calculating the current standardized speed of the vehicle, specifically, the current speed of the vehicle is 3.6, and the current speed of the vehicle is standardized to be the unit km/h. Meanwhile, the previous time calculation unit is second, and the speed unit of the vehicle is usually mainly km/h, so that the current vehicle speed needs to be standardized after calculation, and the current vehicle speed unit is converted into km/h to obtain the current standardized speed of the vehicle.

Example 2

As shown in fig. 2, the present embodiment provides a vehicle simulation test judgment method, which uses a test vehicle simulation model established by the vehicle simulation model modeling method of embodiment 1, the method comprising:

a1: establishing an initial examination scene model according to a real examination scene and importing the initial examination scene model into Unity 3D;

in the step, a real examination scene is sampled through aerial modeling or oblique photography technology, and a Maya3D is utilized to process and optimize a sampling result, so that a field initial examination scene model which is one-to-one with an actual scene is obtained.

A2: establishing an examination vehicle simulation model according to the information of the examination vehicle by using the vehicle simulation model modeling method;

a3: setting rules of the test items according to different test items;

a4: setting a rule trigger and a judging rule for the initial examination scene model according to the rule of the examination item, and generating a simulated examination scene model;

specifically, as shown in fig. 3, setting the trigger includes the following steps:

a41: cube models are built in Unity3D using Cube;

a42: adding a collider component to the established cube model;

a43: setting a cube model attribute as a trigger in the Unity3D, so that the cube model forms a standard trigger;

a44: marking a position needing rule judgment in the initial examination scene model as a trigger point;

a45: setting a plurality of standard triggers at each trigger point through the steps of A41-A43, wherein a standard trigger is respectively set at the starting position and the ending position of the rule judgment at the trigger point, one or a plurality of standard triggers are set at the ending position of the rule judgment, and the number of the standard triggers to be set is set according to the rule of the actual need judgment;

a46: setting parameters and rules for each standard trigger according to the rules of the test items and the scenes in the simulated test scene model, so that the standard triggers form rule triggers, wherein the parameter rules comprise Position data and scaling data and are used for setting the size and the Position of the triggers, and determining that the test vehicle simulation model can meet the rule triggers to carry out rule judgment.

In particular embodiments, for example, in quarter turn items, it may be desirable to utilize a quarter turn in the initial exam scene model. Setting a regular trigger as a start trigger of a right angle turning project at a turning start Position of a right angle bend, and setting parameters of the start trigger, wherein Position data are as follows: x= -46.9, y=1.77, z=5.89, scaling Scale data as: x=1.84, y=4.96, z=11.22, while setting a trigger rule for it: judging whether a turn signal lamp is turned on or not; setting a regular trigger at the turning end Position as an end trigger of a quarter turning item, and setting parameters of the end trigger, wherein Position data are as follows: x=3.6, y=4.4, z=30.2, scaled Scale data as: x=16.11, y=7.82, z=1.8, while setting a trigger rule for it: judging whether to turn off the turn signal lamp; when the test vehicle simulation model passes through the right-angle bend, the test vehicle simulation model collides with the starting trigger, the system triggers a callback OnTrggerEnter (Collider collider) method, and the judgment result of the starting trigger is fed back; when the test vehicle simulation model leaves the right-angle curve, the test vehicle simulation model collides with the ending trigger, the system triggers a callback OnTrggerEnter (Collider collider) method, and the judging result of the ending trigger is fed back. Each rule trigger is placed at an ideal position of the initial test scene model, the ideal position is determined according to the content to be judged actually, and the test vehicle simulation model can meet the rule trigger to trigger judgment.

A5: the method comprises the steps of importing a simulated examination scene model and an examination vehicle simulation model with set rule triggers and judging rules into a system of external automobile simulation equipment, matching the examination vehicle simulation model with operation equipment in the automobile simulation equipment, and establishing operation data of the operation equipment and conversion rules of simulation data of the examination vehicle simulation model;

a6: the terminal user inputs operation data through the operation device, and the automobile simulation device converts the operation data into simulation data of an examination vehicle simulation model according to the conversion rule;

in embodiment 1, after the test vehicle simulation model is introduced into the automobile simulation device, the operation data can be converted into simulation data corresponding to the parameters of the test vehicle simulation model by operating the operation device of the external automobile simulation device, and when the test vehicle acquires the corresponding simulation data, the control function is called to drive the test vehicle to run. It should be noted that, in this embodiment, the automobile simulation device is any one of the prior art, and has a complete simulation of the operation process of the vehicle and the operation system supporting Unity 3D.

A7: the automobile simulation equipment drives the test vehicle simulation model to run in the test scene simulation model according to the simulation data, and judges the achievement according to the rule trigger and the judging rule.

Specifically, the judging rules comprise preset judging rules and examination judging rules;

the preset judging rules comprise the following rules:

the speed limiting rule is that the speed of the vehicle cannot exceed a specified speed;

the car light rule, turn around and turn to the service condition of the turn light while changing the way, judge according to turn signal feedback of the test vehicle simulation model is true;

the line pressing rule is that a rule trigger is set as whether a collision device on the test vehicle simulation model touches the rule trigger or passes over the rule trigger, and line pressing of the test vehicle simulation model is fed back when the collision device touches or passes over the rule trigger;

and the flameout rule is that the test vehicle simulation model cannot flameout in the test process, and the feedback of the starting parameters of the test vehicle simulation model is judged to be the starting state of the automobile, and the feedback of the current speed of the automobile is more than 0.

In this embodiment, other preset determination rules are further included to determine whether the test or the vehicle is normal and operates in accordance with the rules.

The examination decision rule includes a specific rule set according to examination items.

In a specific embodiment, the examination content of the third subject includes a project passing through a school road section, and the judging standard of the project qualification is that the light braking is required twice and the speed of the vehicle cannot exceed 20km/h. To achieve the decision of these two rules. Upon the beginning of the project, i.e. upon touching the start trigger for the project judgment, the current speed of the vehicle of the simulated vehicle is acquired for each frame, whether the speed exceeds 20km/h is judged, if so, a prompt is popped up and the corresponding score is deducted. Meanwhile, the depth data of the brake pedal in each frame should be recorded, specifically, when the project starts, a temporary array is established and the data are written in the temporary array, after the project is triggered by the ending event, the project judging ending trigger is touched, the data in the temporary array are analyzed, whether the trend of the data from the size to the small is twice is judged, if the trend does not appear, a prompt is popped up and the corresponding score is deducted. In this embodiment, the method further includes the step of judging other examination-related items, and specifically needs to be set according to the judgment content of the actual examination.

It should be understood that the foregoing examples of the present invention are merely illustrative of the present invention and are not intended to limit the present invention to the specific embodiments thereof. Any modification, equivalent replacement, improvement, etc. that comes within the spirit and principle of the claims of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A vehicle simulation model modeling method, characterized in that the modeling method comprises:

s1: acquiring actual parameters of the test vehicle, and modeling according to the actual data;

s2: importing the modeled vehicle model into a Unity3D project, and adding an automobile component to the model;

s3: setting automobile starting parameters, gear parameters, power system parameters, automobile state parameters, engine parameters and input coefficients for a vehicle model added with automobile components;

s4: and (3) setting a speed calculation related method for the vehicle model according to the parameters set in the step (S3) to obtain the test vehicle simulation model.

2. The method according to claim 1, wherein the vehicle component in step S2 comprises: wheel collider, common collider and rigid body assembly;

the addition of the wheel impactor specifically includes: wheel collision assemblies are respectively added for wheels of the vehicle model in the Unity 3D;

adding a common impactor specifically includes: adding four spherical colliders of a head, a tail, a left and a right of a vehicle and a square vehicle body collider for a vehicle model in Unity 3D;

the adding of the rigid body component specifically comprises: and adding a Rigidbody rigid body component to the vehicle model in the Unity3D, setting a quality Mass parameter value according to actual parameter data of the test vehicle, and checking a Use grade application Gravity option of the Rigidbody rigid body component.

3. The vehicle simulation model modeling method according to claim 1, wherein the vehicle start-up parameters in the step S3 include: a power-off state, a power-on state, and a start-up vehicle state;

and/or, the gear parameters include: manual gear parameters and automatic gear parameters;

wherein, manual gear parameters include: neutral, first gear, second gear, third gear, fourth gear, fifth gear and reverse gear, the automatic gear parameters include: a parking gear, a forward gear and a reverse gear;

and/or, the powertrain parameters include: maximum wheel offset angle, transmission efficiency, brake pedal torque, and brake profile;

and/or, the vehicle state parameters include: gear ratio of each gear, wheel torque, minimum speed and maximum speed of each gear of the vehicle, idle speed of each gear of the vehicle and foot brake torque;

and/or, the automobile engine parameters include: maximum engine speed, minimum engine speed, speed-to-output power relationship curve, curve speed ratio, idle torque magnitude, speed-up limit, speed-down acceleration, engine-to-wheel torque conversion coefficient;

and/or, the input coefficients comprise: steering wheel input, clutch input, brake input, throttle input, and hand brake switch.

4. A vehicle simulation model modeling method according to claim 3, wherein the speed calculation-related method in step S3 includes an ApplyDrive method;

the ApplyDrive method specifically comprises the following steps:

when the current vehicle speed is smaller than the minimum speed of the current gear, calculating the current torque of the vehicle, and equally distributing the current torque of the vehicle to driving wheels to obtain the forward torque of each driving wheel, and calculating according to the forward torque to obtain the rigid body speed of the vehicle;

the driving wheels are wheels for the vehicle to actually drive the vehicle to advance;

the vehicle rigid body speed is a theoretical speed of the vehicle model.

5. The method for modeling a vehicle simulation model according to claim 4, wherein the calculating the current torque of the vehicle is specifically:

vehicle current torque = idle torque magnitude current gear ratio transmission efficiency clutch input + torque at current engine speed clutch input transmission efficiency;

the torque at the current engine speed is calculated according to the parameters of the automobile engine.

6. The modeling method of a vehicle simulation model according to claim 5, wherein the velocity calculation-related method in step S3 further includes a carteed method;

the CarSpeed method specifically comprises the following steps:

obtaining normalization of the rigid body speed of the vehicle;

calculating the lowest speed limit of the current gear, wherein the lowest speed limit of the current gear is = (the maximum speed of the current gear-the lowest speed of the current gear) is the throttle input plus the idle speed of the current gear;

when the value of the rigid body speed of the vehicle is larger than the maximum speed of the current gear, the current vehicle speed is calculated, specifically:

current vehicle speed = current gear maximum speed x vehicle rigid body speed normalization; and updating the vehicle rigid body speed to the current vehicle speed;

when the value of the rigid body speed of the vehicle is larger than the lowest speed limit of the current gear and smaller than the maximum speed of the current gear, defining an intermediate speed speedVal, wherein the calculation formula of the speedVal is as follows: numerical value of vehicle rigid body speed-downshift deceleration acceleration time; the time is the interval from the last frame to the current frame, and the unit is seconds; normalizing the vehicle rigid body speed by a value when the current vehicle speed = speedVal is greater than 0; and updating the vehicle rigid body speed to the current vehicle speed;

then, calculating the current standardized speed of the vehicle, specifically, the current speed of the vehicle is 3.6, and the current speed of the vehicle is standardized to be the unit km/h.

7. A vehicle simulation test judgment method, characterized in that a test vehicle simulation model established using a vehicle simulation model modeling method according to any one of claims 1 to 6, the method comprising:

a1: establishing an initial examination scene model according to a real examination scene and importing the initial examination scene model into Unity 3D;

a2: establishing an examination vehicle simulation model according to the information of the examination vehicle by using the vehicle simulation model modeling method;

a3: setting rules of the test items according to different test items;

a4: setting a rule trigger and a judging rule for the initial examination scene model according to the rule of the examination item, and generating a simulated examination scene model;

a5: the method comprises the steps of importing a simulated examination scene model and an examination vehicle simulation model with set rule triggers and judging rules into a system of external automobile simulation equipment, matching the examination vehicle simulation model with operation equipment in the automobile simulation equipment, and establishing operation data of the operation equipment and conversion rules of simulation data of the examination vehicle simulation model;

a6: the terminal user inputs operation data through the operation device, and the automobile simulation device converts the operation data into simulation data of an examination vehicle simulation model according to the conversion rule;

a7: the automobile simulation equipment drives the test vehicle simulation model to run in the test scene simulation model according to the simulation data, and judges the achievement according to the rule trigger and the judging rule.

8. The method for determining a simulated test of a vehicle according to claim 7, wherein the establishing an initial test scene model based on a real test scene is specifically as follows:

sampling a real examination scene by using aerial modeling or oblique photography technology, and processing and optimizing a sampling result by using Maya3D to obtain an initial examination scene model consistent with the environment layout of the actual scene.

9. The method for determining a vehicle simulation test according to claim 7, wherein the setting rule trigger comprises the steps of:

a41: cube models are built in Unity3D using Cube;

a42: adding a collider component to the established cube model;

a43: setting a cube model attribute as a trigger in the Unity3D, so that the cube model forms a standard trigger;

a44: marking a position needing rule judgment in the initial examination scene model as a trigger point;

a45: setting a plurality of standard triggers through the steps of A41-A43 at each trigger point;

a46: parameters and rules are set for each standard trigger according to the rules of the test items and the scenes in the initial test scene model, so that the standard triggers form rule triggers.

10. The vehicle simulation test judgment method according to claim 6, wherein the setting of the plurality of standard triggers respectively includes: at each trigger point in the simulated examination scene model, setting the standard trigger at the starting, process and ending positions of rule judgment at the trigger point;

wherein a standard trigger is set at the beginning and the end, respectively, and one or several standard triggers are set at the process.

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